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optimize percolate_up #11

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optimize percolate_up #11

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c50defc
optimize percolate_up
loboho Sep 17, 2019
f778059
optimize percolate_up
loboho Sep 17, 2019
58aadc5
optimize percolate_up
loboho Sep 17, 2019
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11 changes: 6 additions & 5 deletions astar/astar.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,22 +102,23 @@ bool AStar::get_node_index(Node *node, size_t *index)
}

// 二叉堆上滤
void AStar::percolate_up(size_t hole)
void AStar::percolate_up(size_t hole, Node *node)
{
size_t parent = 0;
while (hole > 0)
{
parent = (hole - 1) / 2;
if (open_list_[hole]->f() < open_list_[parent]->f())
if (node->f() < open_list_[parent]->f())
{
std::swap(open_list_[hole], open_list_[parent]);
open_list_[hole] = open_list_[parent];
hole = parent;
}
else
{
return;
break;
}
}
open_list_[hole] = node;
}

// 计算G值
Expand Down Expand Up @@ -224,7 +225,7 @@ void AStar::handle_found_node(Node *current, Node *destination)
size_t index = 0;
if (get_node_index(destination, &index))
{
percolate_up(index);
percolate_up(index, destination);
}
else
{
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2 changes: 1 addition & 1 deletion astar/astar.h
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Original file line number Diff line number Diff line change
Expand Up @@ -150,7 +150,7 @@ class AStar
/**
* 二叉堆上滤
*/
void percolate_up(size_t hole);
void percolate_up(size_t hole， Node *node);

/**
* 获取节点索引
Expand Down